A common theme of these prior works suggest that utilizing the Lie group representations instead of the original observations leads to better training efficiency and better final performance.
In addition, [1]} learns disentangled representations by constraining the latent space to be a Lie group manifold.
Similarly, [2]} employ the prediction of Lie group elements in the context of scene recognition and object segmentation for robotic manipulations, where the elements of \(SE(3)\)  are modeled by a neural network.
